Social behavior rules for a medical telepresence robot

ABSTRACT

Devices, systems, and methods for social behavior of a telepresence robot are disclosed herein. A telepresence robot may include a drive system, a control system, an object detection system, and a social behaviors component. The drive system is configured to move the telepresence robot. The control system is configured to control the drive system to drive the telepresence robot around a work area. The object detection system is configured to detect a human in proximity to the telepresence robot. The social behaviors component is configured to provide instructions to the control system to cause the telepresence robot to operate according to a first set of rules when a presence of one or more humans is not detected and operate according to a second set of rules when the presence of one or more humans is detected.

RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.14/931,641, filed, Nov. 3, 2015, for “Social Behavior Rules for aMedical Telepresence Robot,” which is a continuation of U.S. patentapplication Ser. No. 14/550,743, filed Nov. 21, 2014, for “SocialBehavioral Rules for a Medical Telepresence Robot,” now U.S. Pat. No.9,174,342, which is a continuation of PCT Application No.PCT/US2013/031778, for “Social Behavioral Rules for a MedicalTelepresence Robot,” filed Mar. 14, 2013. The forgoing applications alsoclaim priority under 35 U.S.C. § 119(e) to U.S. Provisional ApplicationNo. 61/650,205 filed May 22, 2012, titled “Remote Presence Interface andPatient Data Integration”; U.S. Provisional Application No. 61/674,794filed Jul. 23, 2012, titled “Graphical User Interfaces IncludingTouchpad Driving Interfaces for Telemedicine Devices”; U.S. ProvisionalApplication No. 61/674,796 filed Jul. 23, 2012, titled “ClinicalWorkflows Utilizing Autonomous and Semi-Autonomous TelemedicineDevices”; U.S. Provisional Application No. 61/674,782 filed Jul. 23,2012, titled “Behavioral Rules For a Telemedicine Robot To Comply WithSocial Protocols”; and U.S. Provisional Application No. 61/766,623 filedFeb. 19, 2013, titled “Graphical User Interfaces Including TouchpadDriving Interfaces for Telemedicine Devices.” All of the foregoingapplications are all hereby incorporated by reference in theirentireties.

TECHNICAL FIELD

This disclosure is generally related to behaviors and actions that canbe executed by an autonomous or semi-autonomous robot to appear morehuman-like and/or comply with social protocols.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a medical telepresence robot.

FIG. 2 is a schematic block diagram illustrating example components ofthe telepresence robot of FIG. 1.

FIG. 3 is a schematic block diagram illustrating example components of asocial behaviors component.

FIG. 4 is a perspective view illustrating a robot and a comfort zone andlockout zone around a human.

FIG. 5 is a perspective view of a robot near a patient in a bed.

FIG. 6 is a perspective view illustrating a robot and a conversationzone and lockout zones around a group of humans.

FIG. 7 is a perspective view of a robot approaching a patient andintravenous pole in a hallway.

FIG. 8 is a perspective view of a robot approaching an intersection.

FIG. 9A is a perspective view of a robot approaching large group in ahallway.

FIG. 9B is a perspective view of a robot allowing the large group ofFIG. 9A to pass with a head portion rotated.

FIG. 9C is a perspective view of a robot allowing the large group ofFIG. 9A to pass with a body portion rotated

FIG. 10 is a perspective view illustrating a robot in a potentialbiohazard.

DETAILED DESCRIPTION

In order to improve communication among hospital staff, healthcareprofessionals, patients, and other applicable parties in variouslocations, a robot may serve as a remote presence communication device.The robot may be capable of autonomous or semi-autonomous navigationthrough a healthcare facility with little or no manual intervention. Therobot may drive in a manner such that it avoids both stationary andmoving obstacles and people in its path.

In addition to avoiding contact with obstacles and people, the robot maymove in harmony with social protocols and expectations. For example,this may include providing suitable space between itself and people, aswell as moving in an unobtrusive manner so as not to alarm staff orvisitors. Further, the robot may move fluidly within that context. Therobot may also be capable of acting as a member of a group, enabling itto assist in group activities and procedures within a healthcarefacility environment.

Disclosed herein are various embodiments of robots, robot behaviors, andmethods for robots to achieve the various behaviors. According tovarious embodiments, the systems and methods disclosed herein mayfacilitate communication among medical professionals, staff, andpatients. In addition, the systems and methods described hereinfacilitate the autonomous navigation of robots while engaging in humanbehaviors and obeying social protocols. For example, a doctor in aremote location may cause a robot to drive down a hallway to a patient'sroom. As the robot autonomously navigates to the patient's room, therobot may acknowledge and greet a human as it passes en route to apatient room.

FIG. 1 is a perspective view of a telepresence robot 100, according toone embodiment. The robot 100 includes a base 102, an upper portion 104,and a head 106. The robot 100 provides a variety of features andfunctions for allowing a user to remotely control the robot 100 andcommunicate with individuals on the site of the robot 100. For example,a doctor may be able to use the robot 100 to remotely communicate with apatient or coworker.

The base 102 supports the robot 100 and may include a drive system formoving the robot 100 about a work area. The base 102 may include anyassociated motors, batteries, wheels, or the like to move the robot 100.The upper portion 104 supports the head 106 and houses various componentof the robot 100. The upper portion 104 may also provide variousfeatures and interfaces to allow a person to interface with the robot100. For example, the upper portion 104 includes a display interface 108that displays information about the robot 100 and/or allows a user toselect different options to control the robot 100. Other ports, button,lights, or the like may be used to interface with the robot 100. In oneembodiment, the upper portion 104 is configured to rotate independentlyof the base 102.

The head 106 represents a head of the robot 100 and includes a displayscreen 110 and a sensor housing 112. The display screen 110 may be usedto selectively display video of a remote user, a caricaturecorresponding to a personality of the robot 100, or any otherinformation. The display screen 110 may be configured to display a livevideo feed from a remote operator and/or a persona of the robot 100,itself. For example, the display screen 110 may display the face of adoctor remotely using the robot 100 for tele-consultations. Whenautonomously navigating, the robot 100 may have a personality portrayedthrough a caricature, face, icon, or other characteristic on the displayscreen 110.

The sensor housing 112 may house a variety of sensors such asmicrophones, cameras, range detector devices, or the like. For example,a video camera configured to capture a video feed of a point of view ofthe robot 100 may be captured and transmitted to a remote user. Thevideo camera may also be used in conjunction with a range findingdevice, such as a laser range finder, to detect objects, humans, orother surrounding features that affect navigation of the robot 100. Inone embodiment, the head 106 is able to rotate independently of theupper portion 104 and/or the base 102. In another embodiment, the head106 is not rotatable with respect to the upper portion 104 and/or thebase 102.

The robot 100 also includes lights 114 distributed on the surface of therobot 100. The lights 114 may be used to indicate a current status ofthe robot 100, reflect a personality of the robot 100, indicate anemergency, create a desired mood for a location within a work area, orindicate any other information to nearby humans. The robot 100 may alsoinclude additional lights, input devices, output devices, and/or avariety of other sensors that will be discussed below.

FIG. 2 is a schematic block diagram illustrating example components ofthe robot 100 of FIG. 1. In the depicted embodiment, the robot 100includes a drive system 202, a control system 204, an object detectionsystem 206, a communication system 208, a map component 210, a socialbehaviors component 212, a biohazard detection component 214, and abiohazard safety component 216. The components 202, 204, 206, 208, 210,212, 214, and 216 are provided by way of example only and may not beincluded in all embodiments. For example, various embodiments mayinclude any one or any combination of two or more of the components 202,204, 206, 208, 210, 212, 214, and 216, without limitation.

The drive system 202 may include one or more motors, wheels, or otherhardware to move the robot 100. The drive system 202 may be configuredfor navigation on a variety of surfaces such as concrete, linoleum,carpet, or the like. In one embodiment, the drive system 202 isconfigured to provide traction and the ability to move through many ofthe environments found in a hospital. In one embodiment, the drivesystem 202 is an omnidirectional drive system that allows the robot 100to move in any direction.

The control system 204 is configured to control the robot 100. Thecontrol system 204 may receive input from the various other components,such as components 202, 206, 208, 210, 212, 214, and 216, and generateinstructions to move or otherwise control the robot based on the input.For example, the control system 204 may be configured to control thedrive system 202 to navigate the robot 100 around a work area.

The control system 204 may be configured to control the robot 100according to a variety of different operating modes. In one embodiment,the control system 204 is configured to operate the robot 100 accordingto an autonomous mode. In the autonomous mode, the control system 204may control the robot 100 to navigate and perform a variety of taskswith no human input. For example, the control system 204 may cause therobot 100 to navigate through a work area and/or perform tasks withouthuman input.

In one embodiment, the control system 204 may cause the robot to performtasks it is capable of performing on its own and request help from ahuman when needed. For example, the robot 100 may be configured to openclosed doors, request help with closed doors, and/or wait for a closeddoor to be opened. For example, automatic doors may be opened by therobot 100. The robot 100 may include a key fob or other identifying tagor information to open secure access doors. The robot 100 may beconfigured to monitor for people following it through secure areas andprovide an appropriate alert. In some embodiments, the robot 100 maywait patiently for a door to open or actively request assistance fromnearby humans. The robot 100 may have a time out period after which itmay find a new path that does not require the door to be opened.Alternatively, the robot may wait patiently for a predetermined amountof time, after which it may begin requesting help. In some embodiments,the robot 100 may track statistics associated with the amount of time itwaits or receives help at each door and utilize the information duringroute planning.

The robot 100 may be configured to proactively request human help if itis presented with a situation that it is not programmed to respond to.The robot 100 may request help via various methods, such as sending anSMS or other electronic message, using its display interface 108 tocommunicate its need for assistance, or utilizing other communicationmethods. In some embodiments, a remote operator can be summoned formanual assistance with the situation, allowing the robot 100 to reassertits autonomy.

In a semi-autonomous mode, the control system 204 may receiveinstructions from a user and then operate autonomously to accomplish theinstructions. For example, a user may provide an instruction to navigateto a specific patient room. The control system 204 may then navigate tothe patient room autonomously, accounting for objects, individuals,routes, or other information to arrive at the room in a timely and safemanner. The control system 204 may receive input from the othercomponents 202, 206, 208, 210, 212, 214, and 216 to navigate in a socialand safe manner.

In a manual mode, the control system 204 may perform instructions asprovided by a user. For example, a user may remotely drive the robot 100using a joystick or other input device or method and the control system204 may cause the drive system 202 to move the robot 100 in the mannerdefined by the user. Of course, some aspects of the operation of therobot 100 may still be automated and may not require explicitinstruction from a user. In any of the manual, semi-autonomous, orautonomous modes, a user may be able to remotely operate (ortele-operate) and/or view information provided by the robot 100.

According to one embodiment, changes in operation mode may beaccompanied by variations in restrictions on the operation of the robot100. For example, the robot's maximum allowed speed in a manual mode maybe increased, and the remote user may be able to navigate the robot 100into regions from which the robot 100 may be locked out in an autonomousmode. In another embodiment, the remote user may be able to overrideobstacle avoidance to approach people or obstacles closely, or eventouch them. This may be specifically useful during teleoperatedconsultations, such as with a coworker, client, or patient.

With regard to humans present with the robot 100, the robot 100 maycontain manual intervention functions such that a person may stop ordelay the robot 100. These may be useful if the robot 100 is getting inthe way of current events in the work area or to prevent accidents orother problems. In some embodiments, the display interface 108 maycontain a large “stop” button, which when pressed may cause the robot100 to halt motion and display a “resume” button. A person may therebystop or delay the robot 100 until the person manually resume its motion,or until an internal timer sets the robot 100 back in motion. The robot100 may also halt as a result of being manually shoved. In either case,the robot 100 may start an internal timer that will count down apre-determined amount of time until the robot 100 resumes its course. Insome embodiments, the display interface 108 may display a message thatindicates how long before the robot 100 resumes motion. A person mayhave the option to set the robot 100 back into motion immediately byselecting a “resume” button, or to keep the robot 100 stopped byselecting a “remain stopped” button. In another embodiment, if theperson selects the “remain stopped” button, the time the robot 100 is toremain halted will increase. The person may be able to select the“remain stopped” button a number of times to increase the halt time ofthe robot 100 up to a certain maximum time.

In other embodiments, the robot 100 may resume navigation and/or motionimmediately after being shoved and/or a “stop” button is selected. Instill other embodiments, the robot 100 may remain permanently stoppeduntil further input is provided in response to a “stop” button beingpushed and/or in response to a shove. The robot 100 may be configured togo into a freewheel mode when stopped, such that the robot 100 is ableto be moved or shoved out of the way. In some embodiments, the robot 100may selectively enter a freewheel mode depending on the surface it ison. For example, it may not enter a freewheel mode if it detects that itis on an inclined surface. When stopped, the robot 100 may include an“enter freewheel mode” selection on the display interface 108 that maybe selected to cause the robot 100 to enter the freewheel mode. A personpresent with the robot 100 may thereby be able to position the robot 100in a location out of the way of a current procedure or event.

The object detection system 206 may detect the presence of an object,human, or other physical feature that is near the robot 100. The objectdetection system 206 may be used by the robot 100 to detectthree-dimensional information about its environment and may provide thisinformation to the control system 204 or other component to affectnavigation of the robot 100. The object detection system 206 may use avariety of sensors, cameras, or other devices to detect informationabout the environment of the robot 100. For example, the robot 100 mayinclude stereo cameras, a laser range finder, a radar system, a sonarsystem, and/or any other system for observing and/or detecting objectsor features nearby.

The object detection system 206 may use any of a wide variety of knownsystem and methods of motion detection, facial recognition techniques,and/or other detection algorithms to detect individuals and/or objects.For example, a robot or related system may utilize binarypattern-classification techniques, Viola-Jones object detectionframeworks, speeded up robust features (SURF) as local descriptors forfacial recognition and detection, edge matching (e.g., Canny edgedetection), greyscale matching, gradient matching, histograms ofreceptive field responses, scale invariant feature transforms (SIFTs),and other techniques known in the art. Such techniques may also be fusedwith face-detection and/or used in combination.

The object detection system 206 may be configured to discern a humanfrom other objects using any of the above methods and may further usemotion detection, face detection, feature classification for bodyshapes, and/or other suitable techniques. The object detection system206 may also be used to detect a type of object. For example, usingmethods such as SIFT-based object detection, the robot 100 may identifyobjects such as beds, chairs, carts on wheels, intravenous (IV) poles,open drawers, or other common objects.

The communication system 208 may be used to provide communication to andfrom the robot 100 to other devices and remote users. The communicationsystem 208 may allow the robot 100 to communicate wirelessly with acontrol center, remote user, on-site workers or staff, or the like. Thecommunication system 208 may allow instructions to be sent to the robot100 and may allow the robot to provide information regarding its currentlocation, status, or other information. For example, the communicationsystem 208 may provide a captured video feed to a remote client and mayreceive a client video feed of a user at the remote client. The clientvideo feed may be displayed on the display screen 110 for viewing bylocal humans.

The map component 210 may determine a location of the robot 100 withinthe work area. For example, the robot 100 may have access to maps for ahealthcare facility or other work area. In one embodiment, the robot 100may maintain, create, and/or download maps of its work area. The mapsmay be annotated and/or marked with various features and/or describe howthe robot 100 should behave in various zones or regions. The map mayinclude various areas that are off limits as well. Some regions or areasof a healthcare facility, hospital, or other work area may be unmapped.In some embodiments, the robot 100 should avoid and/or be restrictedfrom unmapped areas. In some embodiments, the robot 100 may avoidunmapped areas in an autonomous mode, but allow for manualtele-operation within the unmapped regions. The robot 100 may beconfigured to warn a user when crossing a boundary between a mapped areaand an unmapped area.

In one embodiment, map component 210 may be configured to map theunmapped areas as the robot 100 autonomously navigates or istele-operated within unmapped areas. The robot may be configured tomemorize a path within an unmapped area as it is operated in a manual orsemi-manual mode sufficient for the robot 100 to retrace its path backto a mapped area. The robot 100 may then localize itself at the spot therobot 100 crossed the boundary.

The map component 210 may be able to determine where within a map therobot 100 is located. In some embodiments, the robot 100 may beconfigured to indicate locally (e.g., lights, audible warnings, amessage on a display interface) or remotely (e.g., a wireless message)that it is lost when the map component 210 is unable to determine thelocation of the robot 100. A user may be alerted and help guide therobot 100 to a mapped region. The robot 100 may be guided locally, suchas through a follow option described herein, or be tele-operated andmanually driven to a mapped region.

Examples of mapping systems, tags, and robots, and interactions therebetween are described in U.S. patent application Ser. No. 13/360,579filed on Jan. 27, 2012, titled “INTERFACING WITH A MOBILE TELEPRESENCEROBOT,” which application is hereby incorporated by reference in itsentirety, and in U.S. patent application Ser. No. 13/360,590 filed onJan. 27, 2012, titled “INTERFACING WITH A MOBILE TELEPRESENCE ROBOT,”which application is hereby incorporated by reference in its entirety.

The social behaviors component 212 determines operations for the robot100 to perform to operate according to social protocols to reduceanxiety or discomfort of nearby humans. For example, if a robot moves inan erratic manner or comes too close to nearby people, those people maybe uncomfortable and may find the presence of the robot to make itharder to relax, move between locations, or go about their duties. Thesocial behaviors component 212 may determine various actions for therobot 100 that allow the robot 100 to operate around others withoutbeing a distraction or causing problems. According to one embodiment,the social behaviors component 212 will determine actions or operationsto be performed based on a detected status, environment, or individual.The social behaviors component 212 may cause the robot 100 to operatedifferently based on the detected status, environment, or individual.

FIG. 3 is a block diagram illustrating example components of the socialbehaviors component 212 of FIG. 2. In the depicted embodiment, thesocial behaviors component 212 includes a social path component 302, aclassification component 304, a status determination component 306, anacknowledgment component 308, a gesture component 310, and a personalitycomponent 312. The components 302, 304, 306, 308, 310, and 312 areprovided by way of example only and may not be included in allembodiments. For example, various embodiments may include any one or anycombination of two or more of the components 302, 304, 306, 308, 310,and 312 without limitation.

The social path component 302 creates or modifies paths to maintain asocially acceptable distance from humans. In one embodiment, the socialpath component 302 creates paths based on the current status of therobot 100 or a detected person. In one embodiment, the current statusincludes the presence of a person. In one embodiment, the social pathcomponent 302 creates a path according to a first set of rules when ahuman is not present and creates a path according to a second set ofrules when a human is present. In one embodiment, the first set of rulesmaximizes avoidance of collision with objects and the second set ofrules maximizes collision avoidance with humans. For example, the firstset of rules may cause the robot 100 to navigate down the middle of anavigable area, such as a hallway. This may maximize the distancebetween the robot and walls or objects near the walls. On the otherhand, the second set of rules may cause the robot 100 to navigate down aside of the navigable area, such as to the left or the right of thecenter of the hallway when a human is detected. This may meet socialexpectations in the location of the robot 100. For example, in somecultures it is more common to stay to the right side of a pathway orhallway whereas in others it is more common to stay to the left side.The social path component 302 may cause the robot 100 to follow thesecustoms when a person is detected.

Similarly, the distances between objects may vary between a set of rulesfor use when a human is not detected and a set of rules for use when ahuman is detected. For example, the social path component 302 mayrequire that the robot 100 stay further away from objects when a humanis not present than when a human is present. This may allow the robot100 to provide a greater distance between the robot 100 and the human tohelp avoid collision with the human but also to allow the human to feelmore comfortable. Similarly, a minimum distance between a human and therobot 100 may be greater than a minimum distance between an object andthe robot 100.

The social path component 302 may be configured to cause the robot 100to operate more efficiently and quickly when humans are not present thanwhen humans are present. For example, the social path component 302 mayallow for a greater top speed of the robot 100 as it travels a pathwithout any humans around than when the humans are around. As anotherexample, the social path component 302 may allow for a greateracceleration rate of the robot 100 as it travels a path without anyhumans around than when the humans are around.

The social path component 302 may be configured to cause the robot 100to operate more predictably to a human when humans are present. This mayallow for the human to be better able to predict the robot's path andthereby avoid the human bumping into the robot 100 or the robot 100bumping into the human. Similarly, this may reduce the chance of therobot 100 getting closer to the human than the human would findcomfortable. In one embodiment, the social path component 302 may causethe robot 100 to act more predictably to a human by reducingacceleration rates of the robot. These acceleration rates may includeaccelerations to speed up the robot 100, slow down the robot 100, orcause the robot 100 to change direction. Slower rates of accelerationmay also be achieved by creating smoother and more rounded paths for therobot 100 to follow.

In one embodiment, the social path component 302 causes the robot 100 toreduce discomfort of nearby humans by observing a lockout zone and/or acomfort zone for each detected human. FIG. 4 illustrates a robot 100 anda nearby person 402. A lockout zone 404 and a comfort zone 406 for thehuman are illustrated. According to one embodiment, the social pathcomponent 302 may determine the size and shape of the lock out zone 404and comfort zone 406. The social path component 302 may cause the robot100 to avoid traveling through the lockout zone 404 and/or the comfortzone 406.

According to one embodiment, the lockout zone 404 defines an areathrough which the robot 100 may not pass. The social path component 302may create or modify any path to avoid the lockout zone 404. The comfortzone 406 defines an area through which the robot 100 may pass, but mustdo so at a reduced maximum speed. In one embodiment, the social pathcomponent 302 may avoid passing through the comfort zone 406 as long asit is faster to pass around the comfort zone than slow down whilepassing through the comfort zone 406. By observing the lockout zone 404and the comfort zone 406, the robot 100 may avoid making people feeluncomfortable by violating their personal space.

The lockout zone 404 and comfort zone 406 are given by way ofillustration only. Similar lockout zones 404 and/or comfort zones 406may also be used in relation to objects. The social path component's 302path planning may allow for a relatively large lockout zone 404 orbuffer space for people and a relatively small lockout zone 404 orbuffer space for objects. For example, the radius of the lockout zone404 for objects may be limited to between 0.5 and 12 inches; whereas,the radius of the lockout zone 404 for humans may be between 18 and 36inches. This lockout zone 404 may be variable, depending on the culturalcontext the robot 100 is in, the amount of available space, the identityof the person, a classification of the person, a zone within a work areawhere the person 402 and the robot 100 are located, and/or the urgencywith which the robot 100 is navigating. In some embodiments, the size ofthe buffer zone may be selected by a user and/or disabled by a user,such as a user who is remotely operating the robot 100. Based on thecultural context, if the robot 100 is deployed in a crowded city, it mayuse a 12-inch radius for a lockout zone 404 for a human. However, if therobot 100 is deployed in a less crowded city, the social path component302 may use an 18-inch radius for a lockout zone 404.

Lockout or buffer zones may be adapted and specified for particularobjects, situations, and/or locations. Merely by way of example and notlimitation, the Table 1 represents possible lockout radii and comfortzones for various objects:

TABLE 1 Detected Object Lockout radius Comfort zone Bed 12″ 18″ Chair 8″ 12″ Cart on Wheels 10″ 16″ Open drawer  8″ 12″ Shelf, Countertop orDesk  8″ 12″ Misc. medical equipment 10″ 16″ Closed door 12″ 18″ Gurney,stretcher 12″ 18″ IV pole with bag 10″ 16″ Wheelchair 12″ 18″

In various embodiments, the robot 100 may be configured to maintainsocially acceptable distances for a wide variety of situations. Examplesof managing natural social distances and other human-like behavior thatmay be performed by the robot 100 are described in U.S. patentapplication Ser. No. 11/541,422 titled “COMPANION ROBOT FOR PERSONALINTERACTION,” filed on Sep. 29, 2006, which application is herebyincorporated by reference in its entirety. For example, the robot 100may be configured to make various gestural cues as the robot 100 movesor interacts with people.

In various embodiments, the robot 100 may act in a manner consistentwith social protocols with regard to its speed. For example, the robot100 may decelerate its traveling speed when it comes within a largercomfort zone 406 of a person 402. For example, if the lockout zone 404has a radius of 18 inches, the larger comfort zone 406 may have a radiusof 24-48 inches. The robot 100 may decelerate when it nears or entersthis larger comfort zone 406. In one embodiment, the robot 100 may havea maximum speed of 5 mph with no humans around, and may decelerate to 2mph when it enters the larger comfort zone 406. Accordingly, the robot100 may travel at an average human walking speed within the environmentof a heath care facility, taking into account the natural tendency ofhumans to slow down when in crowded situations or when close to otherhumans. For example, the robot 100 may determine an average walkingspeed of a detected individual and maintain the same average speed.

The classification component 304 may classify a detected person. Forexample, a classification component 304 of a robot 100 in a hospital mayclassify a detected person as one or more of a patient, a visitor, and ahospital worker. The classification component 304 may classify a personbased on facial recognition, detection of a badge or wirelessidentification tag on the person, by location within a wheelchair orbed, by location in a work area, and/or by physical features. Forexample, the robot 100 may classify patients from other humans in thefacility using a method such a SIFT-based identification to distinguishpeople located on a bed, gurney, or wheelchair.

FIG. 5 is a perspective view of a the robot 100 near a patient 502 inthe patient's room. The patient 502 is shown within a hospital bed 504and near an IV pole 506. In one embodiment, the classification component304 may classify the patient 502 as a patient based on the patientslocation within the bed 504 and near the IV pole 506. The social pathcomponent 302 may cause the travel speed of the robot 100 to vary whenit is in close proximity to a patient. In one embodiment, a patient roommay act as a “patient zone,” such that any person 402 in the room wouldbe classified by the robot 100 as a patient. When the robot 100 detectsa patient, it may increase the lockout zone 404 and comfort zone 406radii from that of other people 402 in the hospital and/or adjust thespeed limits for a given type of zone. In one embodiment, this ratio maybe 1:1.5. Thus, for example, the lockout zone 404 radius may increasefrom 12 inches to 18 inches, and the comfort zone 406 radius mayincrease from 18 inches to 27 inches. This may serve to protect patientsafety and/or patient emotional security, especially because patientsmay be in a sensitive emotional or physical state.

The social path component 302 may create a navigation path based on aclassification of a nearby person. For example, when the robot 100 isnear a patient or visitor in a hospital work area, the social pathcomponent 302 may afford greater distances to ensure that the visitor orpatient is not disturbed. The social path component 302 may allow for asmaller lockout zone 404 or comfort zone 406 for hospital employees,such as doctors or nurses, than for visitors and patients.

The status determination component 306 determines a current status ofthe robot 100 or of a nearby person 402. For example, the statusdetermination component 306 may determine whether there is an emergency,whether there is a human present, whether humans are engaged in aconversation, whether the robot 100 will navigate near an intersection,whether the robot 100 will navigate near a doorway, or other possiblestatuses of the robot 100 or a nearby person 402.

The status determination component 306 may determine that the currentstatus includes nearby people involved in a conversation. The statusdetermination component 306 may determine that two or more people areinvolved in a conversation and avoid passing between them. For example,the status determination component 306 may determine a conversation zonethat includes a continuous region between the human and the one or morehumans such that the telepresence robot cannot pass between the humanand the one or more humans without passing through the conversationzone.

FIG. 6 illustrates a robot 100 near two people 402 who are engaged in aconversation. The robot may recognize the people 402 as part of aconversational group 602 and avoid disturbing them by not moving inbetween the people 402. The robot 100 may be configured to plan itsnavigational path around clusters of humans, so as to avoid interruptinghuman interaction. The robot 100 may scan a room to detect humansclustered in groups 602 that may potentially be in conversation. In oneembodiment, the robot 100 may scan a room to detect humans and thenperform a segmentation and clustering analysis to detect potentialconversational groups 602. From this analysis, the robot 100 maydetermine which direction the humans are facing, their proximity toother humans, hand gestures, or other actions indicating a group 602 ofinteracting humans. In other embodiments, the robot 100 may utilizesound detection techniques and/or analysis to identify humans that arepotentially in a group 602. FIG. 6 illustrates a conversation zone 604and respective lockout zones 404 for each person 402. The social pathcomponent 302 may avoid the conversation zone 604 similar to how itavoids a comfort zone 406. Alternatively, when human groups 602 aredetected, the robot 100 may apply a lockout zone 404 and/or comfort zone406 to the entire group 602, as opposed to individual humans within thegroup 602. Accordingly, the robot 100 may avoid interruptingconversations between humans in a group 602 and may treat theconversation zone 604 similar to a lockout zone.

Similarly, the status determination component 306 may determine othergroups of people and/or objects that the robot 100 should not passbetween. In addition to attempting to abide by social protocols whennavigating around humans, the robot 100 may also adhere to specificbehavioral protocols when navigating around specific objects common tohealthcare facilities. In some embodiments, the robot 100 may havespecial, pre-determined lockout radii and/or comfort zones for eachrespective object. Other objects may trigger special-case behaviors. Forexample, when the robot 100 finds a cable or cord, it may determinewhether to traverse or avoid the cable depending on the cable's height.In other embodiments, the robot 100 may alter its behavior based onalerts or existing conditions. For example, the robot 100 may alter itsbehavior based on a “floor cleaning” sign. In such an example, the robot100 may respond by slowing its speed to 50% and staying within a fewinches of a wall. Another example may include the robot 100 detecting apatient with an IV pole or walker, which may cause the robot 100 toavoid navigating between the patient and the IV pole or walker.

FIG. 7 illustrates a perspective view of the robot 100 approaching aperson 402 and an IV pole 702 in a hallway. According to one embodiment,the object detection system 206 detects the person 402 and IV pole 702and the status determination component 306 determines that the robot 100should not pass between a person 402 and an IV pole 702 based on astored rule. For example, even though the robot 100 may not be able tosee tubing running between the person 402 and the IV pole 702 the robotmay follow a rule that the robot 100 should not pass between them. Thus,the social path component 302 may plan a path around the person 402 andIV pole 702 that does not involve passing between them.

The status determination component 306 may determine that the currentstatus includes that the robot 100 is approaching a doorway orintersection. The status determination component 306 may determine thatthe robot 100 is approaching a doorway or intersection based oninformation detected by the object detection system 206 and/or based ona current location of the robot 100 as determined by the map component210. The status determination component 306 may notify the social pathcomponent 302 of the upcoming doorway or intersection and the socialpath component 302 may determine a path to pass through the doorway orintersection while limiting chances of entering a lockout zone 404 ofany people 402 or bumping into any objects or people. For example, thesocial path component 302 may determine an entry angle through theintersection or doorway to increase visibility to any approachinghumans. Similarly, as the robot 100 approaches the doorway orintersection, the status determination component 306 and/or the socialpath component 302 may determine whether a human will reach theintersection within a threshold time of the robot 100. If the human andthe robot 100 will likely cross around the same time the social pathcomponent 302 may modify a path of the robot 100 to avoid a lockout zone404 for the human. The social path component 302 may change the pathsuch that the robot 100 stops at the intersection, speeds up, slowsdown, or even moves sideways to avoid coming within a lockout zone 404and/or comfort zone 406 of the human.

The social path component 302 may also avoid sudden, unexpected changesin direction or movements that might potentially surprise or disturb ahuman.

FIG. 8 illustrates a perspective view of a robot 100 as the robot 100navigates around a corner at an intersection. The robot 100 is shownapproaching the intersection while two people 402 are also passingthrough the intersection. A planned pathway 802 is shown around thecorner of the intersection that will be predictable for the people 402.For example, the pathway 802 is a smooth rounded pathway and sweeps widearound the corner to increase visibility for the robot 100 and any morepeople that may be coming. The social path component 302 may determinethat the robot 100 will be the first to get around the corner and maythus proceed. In one embodiment, the robot 100 may determine that thepeople 402 will be in the intersection about the same time as the robot100 and the social path component 302 may determine that it would bebest for the robot to stop until the people 402 are through theintersection. In one embodiment, the robot 100 may determine that it hasa right of way since it is turning to the right and may proceed aroundthe corner even if the people 402 might need to wait.

With respect to thresholds in doorways or intersections, the statusdetermination component 306 may be configured to cause the robot 100 toslow down, approach thresholds at an angle, and/or approach thethreshold squarely. In some embodiments, the robot 100 may have anomnidirectional drive system 202 configured to move in any direction,regardless of the orientation or angle of the base 102 relative to themotion. However, in some embodiments an omnidirectional base may beconfigured to climb or traverse a raised threshold or other objectbetter at one angle than another. Accordingly, the status determinationcomponent 306 may be configured to orient its base 102 at the optimalangle relative to a threshold prior to traversing the threshold. Forexample, a three- or four-wheel base 102 may traverse a raised thresholdbetter if it is oriented squarely with respect to the threshold, suchthat two wheels of the base 102 contact the raised threshold at the sametime. In some embodiments, thresholds may be included in a map of thehealthcare facility. For example, raised thresholds for doorways may betagged or otherwise marked on a map used by the robot 100 fornavigation. In some embodiments, the thresholds may be detected by therobot 100 as it approaches them.

The status determination component 306 may determine that the currentstatus includes that the robot 100 is being delayed during navigation.The status determination component 306 may determine that the robot 100is being delayed during navigation when a pathway is blocked by one ormore individuals and objects for at least a delay time period. The robot100 may encounter obstacles that prevent it from passing, such as aperson 402, a group 602 of people, an object, or a combination thereof.The robot 100 may attempt to plan a navigational path to avoid breachingsocial rules for a specified timeout period, after which it may attemptto find a new route to its destination and/or violate the social rules.In some embodiments, the timeout period may be short, such as between 1and 30 seconds, to avoid the robot 100 hovering or dodging around peoplein the hallway for a long period of time while they are talking orotherwise engaged in the hallways. In still other embodiments, the robotmay ask people to step aside or move.

Returning to FIG. 7, the social path component 302 may determine that itcannot maneuver down the hallway without entering a lockout zone 404 ofthe person 402 or IV pole 702. Upon determining the path is blocked thestatus determination component 306 may start a timer and continuelooking for a way around the person 402 and IV pole 702. If the timerreaches a delay time the status determination component 306 maydetermine that the robot 100 is in a delayed navigation status. Thesocial path component 302 may, in response, shrink a lockout zone 404 ofthe person 402 or IV pole 702 and then attempt to find a route through.If a path is found the social path component 302 may cause the robot 100to continue on its path. Otherwise, the social path component 302 mayseek for a new pathway.

Similarly, when located in narrow, crowded, or otherwise tight spaces,the robot 100 may leave a small buffer of space between itself and anobject, but may pass relatively close to objects in order to navigate.

The status determination component 306 may determine that the currentstatus includes that a nearby human is involved in an emergency. Thestatus determination component 306 may determine that a nearby human isinvolved in an emergency based on how fast a nearby human is moving. Forexample, if the object detection system 206 detects that a human ismoving at a fast pace down a hallway, the status determination component306 may determine that the user is involved in an emergency or has anurgent task to perform. Similarly, the status determination component306 may determine that a nearby person is involved in an emergency basedon one or more of a speed of a moving object, a speed of a movingperson, a warning sound, and flashing lights. In another embodiment, therobot 100 may detect the velocity of the approaching person or objectand, if it is above a pre-determined threshold, determine that there isan emergency or dangerous situation. In this case, the robot 100 maymove to the side of the hallway and wait until the passing person,group, and/or object has passed.

In one embodiment, upon determination that a person is involved in anemergency, the social path component 302 may determine a path to causethe robot 100 to move out of a high-traffic area, move out of the way ofthe person or object involved in an emergency, or the like. Returning toFIG. 8, the robot 100 is shown approaching an intersection. According toone embodiment, if one or both of the people 402 were moving at a fasterrate than is normal for people in the work area, the robot 100 may stopand follow the other path 804, instead of the planned path 802, to getout of the way for a short amount of time or until the intersection orhallway has cleared. Similarly, the social path component 302 maydetermine that another location is more ideal for getting out of the wayand may cause the robot 100 to navigate to the other location.

The robot may be configured to detect or receive an indication of theurgency of the approaching object. For example, the speed of anapproaching gurney may be indicative of the urgency of the situation. Inanother embodiment, a gurney may have a transmitter or lights thatindicate the urgency of the situation. The robot 100 may respond bymoving out of the way. The robot 100 may also be prohibited fromloitering in high-traffic areas. For example, hallways may be marked asareas where the robot 100 should not stop, or in which the robot 100should move to one side of the hallway if it does stop.

The robot 100 may be more sensitive to emergencies in an emergencydepartment (ED) region. For example, the robot 100 may be more likely tostop and wait at the side when people move by. For example, the robot100 may utilize the motion and velocity detection behaviors describedabove, but adjust them for the ED region, such that a velocity of 50% ofthe normal emergency velocity threshold may be enough to trigger anemergency response behavior of waiting by a wall for the fast-movingperson or object to pass. Similarly, the robot 100 may increase itslockout zones 404 and/or comfort zones 406 for objects in an ED unit todecrease the likelihood that it will collide with a shelf or tablecontaining delicate instruments.

The status determination component 306 may determine that the currentstatus includes that the robot 100 is involved in an emergency or has anurgent status. For example, while being remotely operated by a doctor,the doctor may select an option for urgent operation of the robot 100.In one embodiment, in response to receiving an indication that the robot100 is involved in an emergency situation, the robot 100 may beconfigured to violate one or more of the social protocols discussedherein. For example, the robot 100 may violate the group conversationrule to reach a high-priority destination by traveling between twohumans having a conversation. In another embodiment, the robot 100 mayneed to reduce the size of a lockout zone by a predetermined fraction,such as one half. Similarly, increased speed or other changes inrestrictions may be followed. In addition, the robot 100 may beconfigured to play a sound clip of a polite phrase, such as, “excuse me”or “I′m sorry.”

The status determination component 306 may determine the current statusas being located within a specific region of a work area. In oneembodiment, the robot 100 may have the ability to change itsnavigational settings depending on the different areas of the hospitalthrough which it is traveling. In some embodiments, the map component210 may allow the robot 100 to determine which region of the hospital itis in, and the robot 100 may adapt its operation accordingly. Forexample, the robot 100 may adjust behaviors, such as how far itnavigates into a room, the speeds it travels, the radii of the lockoutzone 404 and/or buffers between itself and objects, and other behaviors.In some embodiments, the robot 100 in an intensive care unit (ICU)region or a pediatric ward may adjust its maximum speed to 50% of itsnormal pace. In another embodiment, the robot 100 may navigate only aspecified distance into an ICU room from the doorway. For example, therobot 100 may move only far enough into a room to view information frommonitors. In this example, the rest of the room may be considered alockout zone 404.

The social path component 302 may also allow the robot 100 to exhibitteam based behavior. In one embodiment, for example, the displayinterface 108 on the upper portion 104 of the robot 100 may present a“follow team” option that may be selected by a user. When the followteam option is selected, the robot 100 may identify various features ofa person to be followed, such as height, facial features, size, or otherphysical characteristics. The social path component 302 may then followthe identified individual at a pre-determined distance. The robot 100may accomplish this using the object detection system 206 that performsmethods such as facial detection and/or other detection and followingtechniques. When following an individual, the robot's 100 speed andlockout zones may be adjusted to comply with a team-based environment.In some embodiments, the robot's 100 lockout zone may be reduced toallow it closer physical proximity to the team or followed individual,and/or the comfort zone may be reduced or eliminated entirely. In otherembodiments, the speed of the robot 100 may be adjusted to match atime-averaged speed of the team or individual.

The social path component 302 may also exhibit team behavior by gettingout of the way of an oncoming person. For example, the social pathcomponent 302 may cause the robot 100 to move in a human-like way inresponse to objects or people moving in its direction, even if they havenot crossed into its navigational path. In one embodiment, the robot 100may respond to a human presence in a hallway by moving closer to oneside of the hallway, decelerating as the person or object approaches,moving to the side of the hallway and stopping until the person orobject has passed, and/or by performing other human-like reactions. Inone embodiment, if the robot determines that a hallway is narrow, therobot 100 may decelerate as a person and/or object approach. The robot100 may stop next to the wall as a person and/or object approach in anarrow hallway, and resume once they have passed. In one embodiment, therobot 100 may use any of the various detection methods described above,such as a motion detection method, to choose the side of the hallwayopposite of the detected movement (or choose either side of the hallwayif the motion is from the center of the hallway, or the side of thehallway that is less congested with other obstacles). In one embodiment,the robot 100 may be configured to always go toward either the right orthe left, based on a user specification. In another embodiment, therobot 100 may detect if the hallway is narrow and decelerateaccordingly.

FIGS. 9A and 9B are perspective views of the robot 100 in a hallway withsome people 402 and a patient in a bed 902 approaching. According to oneembodiment, the robot 100 recognizes in FIG. 9A that the people 402 andthe patient in the bed 902 take up most of the hallway and are movingtoward the robot 100. The social path component 302 may determine thatthe robot 100 should move over and let the people 402 and the patient inthe bed 902 pass. In FIG. 9B, the robot 100 has followed a path 904 to aside of the hallway and stopped to let the people 402 and the patient inthe bed 902 pass. The robot 100 may then proceed on its way once thegroup has passed.

The acknowledgment component 308 may be configured to provideacknowledgement or other visible information to nearby humans. Forexample, the acknowledgment component 308 may be configured to cause therobot 100 to socially acknowledge a human, indicate a direction to betraveled by the robot, indicate a state or status of the robot 100,apologize for violating a social rule, or the like. The acknowledgmentcomponent 308 may provide the acknowledgement or indications visually,audibly, or using a gesture.

The acknowledgment component 308 may provide acknowledgment or otherindications using the lights 114. For example, the acknowledgmentcomponent 308 may us the lights 114 or other lights located on the base102, upper portion 104, head, front, back, and/or other areas toindicate direction, intended direction, urgency, or usage, and/or to seta mood. In one embodiment, if a pathway is blocked by a human theacknowledgment component 308 may flash the lights 114 to get theattention of a person blocking the path. Various colors of lights 114may be associated with moods and/or contexts. For example, blue may becalming or soothing, while red or yellow may indicate an emergency. Thelights may also indicate if a robot 100 is being tele-operated or isautonomously navigating.

In one embodiment, the acknowledgment component 308 flashes the lights114 to indicate that the robot 100 is in an emergency or urgent status.Similarly, flashing lights may indicate that the robot 100 is delayed.For example, in the scenarios discussed above, the acknowledgmentcomponent 308 may turn on the lights 114, flash the lights 114, or thelike to indicate that the robot 100 may act in a more urgent manner andmay pass closer and/or move more quickly than normal. For example, therobot 100 may use the lights 114 as a blinker to indicate that the robot100 will turn to the right. Nearby people will notice the flashinglights 114 and pay attention or move out of the way of the robot 100.

The acknowledgment component 308 may provide acknowledgment or otherindications by making an audible sound, such as by using a speaker. Forexample, the acknowledgment component 308 may also provide an audiblewarning, or apology, to nearby humans when it violates a comfort zone,reduced lockout zone, conversation zone, or the like. For example, therobot 100 may play an audio clip that says “I′m sorry,” “excuse me,” orthe like. As another example, the robot 100 may play a subdued sirensound, beeping sound, or other warning sound when the robot 100 is in anurgent mode or when it has been delayed. This may provide a notificationto nearby individuals that the robot 100 is there and may be trying toget by. In one embodiment, the acknowledgment component 308 causes therobot 100 to provide a social acknowledgment to a passing human. Forexample, the robot 100 may say “hello” or provide any other audiblegreeting to a passing human.

When the robot 100 needs to violate any rules, it may apologize to thehumans by playing the sound clip as it passes. The robot 100 may alsoissue a warning before it violates a social rule. For example, a warningmay be issued by playing a sound clip of a pre-recorded polite phrase.In other embodiments, this warning may be issued by flashing lights 114on the upper portion 104 of the robot 100.

The acknowledgement component 308 may also cause a gesture component 310to perform a gesture to indicate a status or acknowledge a passinghuman. For example, gestures may be performed to indicate a direction tobe traveled, acknowledge the human, or the like.

The gesture component 310 may be configured to perform a gesture toindicate a direction to be traveled. For example, the gesture component310 may cause the head 106 of the robot 100 to turn in the direction therobot 100 intends to travel. The head 106 may be turned prior to therobot 100 actually moving in that direction. This is similar to howhumans often turn their head in the direction they intend to walk beforemoving in that direction. Humans can generally read this body languageand know where a person intends to walk and can thus avoid walking inthe same direction, slowing to let that person pass, or the like.Similarly, by turning its head 106 in the direction it intends to travelthe robot 100 may naturally communicate a direction to be traveled tonearby humans where the robot 100 will go. This may reduce thelikelihood of the robot 100 coming within a lockout zone 404 or comfortzone 406 of the person 402. This is partly because the movement isrendered more predictable to the human because of the gesture.

Similar gestures may also be performed at doorways or near other blindspots. The robot 100 may utilize a navigational algorithm that causesthe robot 100 to face the direction of its motion. For instance, ratherthan facing forward and panning to the left or right, the robot 100 mayturn its body portion and/or head portion in the direction of themovement. The robot 100 may also imitate human behavior by rotating itshead portion to the left and right (scan) over a room or corridor beforeentering. If the head portion of the robot 100 faces a differentdirection than the actual movement, humans in the surrounding region mayfind it unnatural, disturbing, distracting, and/or otherwise be made tofeel uncomfortable. Accordingly, the robot 100 may imitate humanbehavior by maintaining its head portion facing the direction ofmovement, other than for brief periods as described herein (e.g., whengreeting).

In one embodiment, the robot 100 may decelerate its approach to athreshold, stop to scan the room or intersection, and then adjust itsnavigational path if necessary. In other embodiments, the robot 100 maynot come to a complete stop, but may decelerate to a very slow speedsuch as between 0.1 mph and 2 mph as it scans the room or intersection.

FIG. 8 illustrates an example of a head turn gesture to indicate adirection. The robot 100 is shown turning its head 106 to the right eventhough the robot 100 has yet to begin moving to the right, as indicatedby the path 802. In addition to gesturing, the robot 100 may provideother indications to allow hospital staff and visitors to know where therobot 100 is headed. These indicators may include the robot's head 106facing the direction of its motion (as discussed above), or having therobot 100 turn its head 106 to “look” to the side it intends to turnwhen it approaches an intersection. Other indicators may include lights114, such as light emitting diodes (LEDs), on the robot 100 that act asturn indicators. The lights 114 may be visible from the front or rear.The indicators on the appropriate side may turn on or flash apre-determined distance from the robot's 100 turn.

The gesture component 310 may be configured to perform a gesture toacknowledge a passing person 402. The robot 100 may use a method, suchas motion detection, facial recognition techniques, or other detectionmethods to detect humans. In one embodiment, the robot 100 may turn itshead 106 to face the human briefly, and then return to face thedirection of its travel. In other embodiments, the robot 100 may keepits face pointed toward the human's face for a moment, so as to simulatethe equivalent of human eye contact. In other embodiments, the robot 100may be configured to simulate a nod to the human, such as by tilting itshead 106 downward, then returning its head 106 to face its forwarddirection. The robot 100 may also be configured to greet humans in thehallway by playing a pre-recorded sound clip of a greeting such as,“hello” or “good morning.”

FIG. 9B also illustrates the head turn gesture to acknowledge the people402. The robot 100 has moved to the side of the hallway and turned itshead 106 to “look” at the passing group. The robot 100 may pan the head106 to face the group for a short period of time to simulate eyecontact. In one embodiment, the robot 100 may only pan the head 106toward the people 402 for only a short time so that the people 402 donot feel like they are being stared down. The robot 100 may also nod thehead 106 by tilting the head 106 forward and then back up. The robot 100may also play an audible greeting.

FIG. 9C illustrates an alternative embodiment in which the body of therobot 100 (along with the head 106) has rotated to “look” at the passinggroup. Again, the robot 100 may also nod the head 106 by tilting thehead 106 forward and then back up. The robot may be configured to turnonly the head 106, as illustrated in FIG. 9B, or it may be configured torotate the body as well, as illustrated in FIG. 9C.

Throughout this disclosure, the concept of a robot “turning its head”may include a robot turning a head portion relative to a body portion.Alternatively, “turning its head” may include a robot with a fixed head,and thus require that the robot rotate more than just a head portion(e.g., the upper portion 104, a base 102, or even the complete robot) inorder to “turn its head” and “look” in a particular direction or at aparticular object.

The personality component 312 may control the robot 100 to operateaccording to an assigned personality. For example, a personality may beassigned to the robot to cause it to behave in certain ways. Forexample, a shy robot may only nod, while an outgoing robot may greeteach human verbally as it passes. Similarly, the types ofacknowledgments may vary between different personality types. Thepersonality component 312 may also cause the lights 114 to light upaccording to the personality type and may display a caricaturecorresponding to the personality type. For example, caricatures that mayamuse children may be used in a children's section of a hospital.

Returning to FIG. 2, the biohazard detection component 214 is configuredto detect a potential biohazard. The biohazard detection component 214may detect the presence of a potential biohazard and/or identify a typeof biohazard. For example, the biohazard detection system may includeone or more sensors that detect the presence of a potential biohazard.In one embodiment, the biohazard detection component 214 includes asensor that grazes a floor of a work area as the robot 100 moves througha work area. In one embodiment, the senor may include a moisture sensor.For example, the moisture sensor may detect spilled chemicals, blood,urine, or other fluids that may be potential biohazards. In oneembodiment, the sensor may include a chemical sensor that detects thepresence of one or more chemicals. For example, some chemicals may bepresent in different biohazard materials. The chemical sensor may allowthe biohazard detection component 214 to detect the chemical anddetermine that a biohazard or potential biohazard is present.

In one embodiment, the biohazard detection component 214 may detect apotential biohazard by detecting material on a floor of a work area thatis not part of the floor based on an image captured by a camera of therobot 100. For example, the biohazard detection component 214 mayperform image analysis to detect liquid, powders, or other materials ona floor of the work area. The biohazard detection component 214 may becapable of identifying a material based on color, location, size, shape,texture, etc. Similarly, a moisture sensor or chemical sensor may alsobe used to identify a type of biohazard or potential biohazard.

The biohazard safety component 216 is configured to provide instructionsto the control system to cause the robot 100 to prevent spreading of adetected potential biohazard. The biohazard safety component 216 mayprevent spreading of the potential biohazard by stopping on or near thepotential biohazard to block others from walking through the potentialbiohazard and spreading it throughout a work area. The biohazard safetycomponent 216 may provide a warning to nearby humans about the detectedpotential biohazard. In one embodiment, the biohazard safety component216 may cause the robot 100 to flash a biohazard symbol on the displayinterface 108. In one embodiment, the biohazard safety component 216 maycause the robot 100 to flash one or more lights 114 to indicate anemergency or urgent situation. In one embodiment, an audible warning maybe played by the robot 100 that indicates that there is a potentialbiohazard and instructing humans to avoid it. In one embodiment, abiohazard symbol, flashing lights, and an audible warning may all beprovided.

The biohazard safety component 216 may prevent spreading of thepotential biohazard by transmitting a message that there is a detectedpotential biohazard. For example, the biohazard safety component 216 maycause the communication system 208 to send a message over a wirelessnetwork to indicate the location, type of potential biohazard, and/orother information about the potential biohazard. A cleaning crew orother management crew may receive the message and be able to address theproblem and/or clean up the biohazard.

The biohazard safety component 216 may prevent spreading of thepotential biohazard by cleaning up the biohazard. The biohazard safetycomponent 216 may be equipped with cleaning tools to clean up a liquid,powder, or any other material. The biohazard safety component 216 mayinclude a sterilization pad and/or drying pad to sterilize and/or drythe area where the potential biohazard was detected. Thus, the robot 100may be capable of maintaining sanitation in a work area, such as ahospital. The robot 100 may send a message that the potential biohazardwas cleaned and one or more workers may be able to double check whetherthere is any more cleaning that needs to be done.

FIG. 10 illustrates a robot 100 that has detected a potential biohazard1002. According to one embodiment, the robot 100 automatically haltsmovement upon detection of the biohazard 1002. The robot 100 may beexposed to biohazards 1002 in the form of liquids on the hospital floorsuch as blood, urine, or other fluids. To avoid spreading such acontamination throughout the healthcare facility, the robot 100 may beequipped with a sensor to detect a liquid or chemical. In oneembodiment, this sensor may be a lightweight, flexible sensor thatprotrudes from the base 102 of the robot 100, and grazes the floor. Inanother embodiment, the robot 100 may have a chemical sensor thatextends from the robot 100 and detects or confirms the detection of thebiohazard 1002. The sensor may include a moisture sensor. In yet anotherembodiment, the robot may employ computer vision, image analysis, orscene analysis techniques to identify a spill, puddle, or other objector substance that is not a part of the floor. In this case the robot 100may send an alert or notification to the appropriate personnel butnavigate around the hazard and continue its current mission.

When the biohazard detection component 214 detects a biohazard, therobot 100 may stop immediately. After the robot 100 stops, it may turnon a signal to alert healthcare facility staff. In another embodiment,the display interface 108 may flash a “Biohazard Detected” message witha biohazard symbol 1004. This message may also be present with optionsthat the healthcare facility staff could select such as, “Resume,” “ShutDown,” and “Wait.” In another embodiment, the robot 100 may send a shortmessage service (SMS) message (or other electronic message) to hospitalmaintenance or to the manufacturer's tech support department to alertthem of the biohazard 1002. In another embodiment, the healthcarefacility and/or the robot 100 may be equipped with sterilization pads.The robot 100 may utilize a sterilization pad to perform an auto cleanto destroy the biohazard 1002 and sterilize the area. In someembodiments, the sterilization pad may be placed adjacent to are-lubrication pad, in case the sterilization effort removes the robot100 wheel lubrication. In other embodiments, a drying pad may also beutilized.

Some of the components that can be used with embodiments disclosedherein are already available, such as general-purpose computers, mobilephones, computer programming tools and techniques, digital storagemedia, and communications networks. A computing device, such as alaptop, tablet computer, desktop computer, server, Smartphone, or thelike, may include a processor, such as a microprocessor,microcontroller, logic circuitry, or the like. The processor may includea special purpose processing device such as an ASIC, PAL, PLA, PLD,FPGA, or other customized or programmable device. The computing devicemay also include a computer-readable storage device such as non-volatilememory, static RAM, dynamic RAM, ROM, CD-ROM, disk, tape, magnetic,optical, flash memory, or other computer-readable storage medium.

Various aspects of certain embodiments may be implemented usinghardware, software, firmware, or a combination thereof. As used herein,a software component may include any type of computer instruction orcomputer executable code located within or on a non-transitorycomputer-readable storage medium. A software component may, forinstance, comprise one or more physical or logical blocks of computerinstructions, which may be organized as a routine, program, object,component, data structure, etc., which performs one or more tasks orimplements particular abstract data types.

In certain embodiments, a particular software component may comprisedisparate instructions stored in different locations of acomputer-readable storage medium, which together implement the describedfunctionality of the component. Indeed, a component may comprise asingle instruction or many instructions, and may be distributed overseveral different code segments, among different programs, and acrossseveral computer-readable storage media. Some embodiments may bepracticed in a distributed computing environment where tasks areperformed by a remote processing device linked through a communicationsnetwork.

The systems and methods disclosed herein are not inherently related toany particular computer or other apparatus and may be implemented by asuitable combination of hardware, software, and/or firmware. Softwareimplementations may include one or more computer programs comprisingexecutable code/instructions that, when executed by a processor, maycause the processor to perform a method defined at least in part by theexecutable instructions. The computer program can be written in any formof programming language, including compiled or interpreted languages,and can be deployed in any form, including as a standalone program or asa module, component, subroutine, or other unit suitable for use in acomputing environment. Further, a computer program can be deployed to beexecuted on one computer or on multiple computers at one site ordistributed across multiple sites and interconnected by a communicationnetwork.

Software embodiments may be implemented as a computer program productthat comprises a non-transitory storage medium configured to storecomputer programs and instructions that, when executed by a processor,are configured to cause the processor to perform a method according tothe instructions. In certain embodiments, the non-transitory storagemedium may take any form capable of storing processor-readableinstructions on a non-transitory storage medium. A non-transitorystorage medium may be embodied by a compact disk, digital-video disk, amagnetic tape, a Bernoulli drive, a magnetic disk, a punch card, flashmemory, integrated circuits, or any other non-transitory digitalprocessing apparatus memory device.

Although the foregoing has been described in some detail for purposes ofclarity, it will be apparent that certain changes and modifications maybe made without departing from the principles thereof. It should benoted that there are many alternative ways of implementing theprocesses, apparatuses, and system described herein. Accordingly, thepresent embodiments are to be considered illustrative and notrestrictive, and the invention is not to be limited to the details givenherein, but may be modified within the scope and equivalents of theappended claims.

As used herein, the terms “comprises,” “comprising,” and any othervariation thereof, are intended to cover a non-exclusive inclusion, suchthat a process, a method, a system, an article, or an apparatus thatcomprises a list of elements does not include only those elements butmay include other elements not expressly listed or inherent to suchprocess, method, system, article, or apparatus.

It will be obvious to those having skill in the art that many changesmay be made to the details of the above-described embodiments withoutdeparting from the underlying principles of the invention. The scope ofthe present invention should, therefore, be determined only by thefollowing claims.

1. A telepresence robot comprising: a drive system configured to movethe telepresence robot; a control system configured to control the drivesystem to drive the telepresence robot around a work area; an objectdetection system configured to detect a human in proximity to thetelepresence robot; and a social behaviors component configured toprovide instructions to the control system to cause the telepresencerobot to operate according to a first set of rules when a presence ofone or more humans is not detected and operate according to a second setof rules when the presence of one or more humans is detected.
 2. Thetelepresence robot of claim 1, wherein telepresence robot is configuredto request assistance from a human based on an inability of thetelepresence robot to perform a task.
 3. The telepresence robot of claim1, wherein the second set of rules comprise maintaining a minimumdistance from the human.
 4. The telepresence robot of claim 2, whereinthe social behaviors component is configured to determine aclassification of the human, wherein the minimum distance from the humanis based on a determined classification of the human.
 5. (canceled) 6.The telepresence robot of claim 2, wherein the social behaviorscomponent determines the minimum distance from the human based on a zonewhere the human and the telepresence robot are located.
 7. (canceled) 8.The telepresence robot of claim 2, further comprising a statusdetermination system configured to determine a current status for one orboth of the telepresence robot and the human, wherein the minimumdistance to be maintained from the human is based on the current status.9-11. (canceled)
 12. The telepresence robot of claim 1, wherein thesecond set of rules comprise a first maximum speed outside a firstradius of the human and a second maximum speed outside a second radiusand within the first radius.
 13. The telepresence robot of claim 1,wherein the first set of rules comprises maximizing avoidance ofcollision with objects, wherein the second set of rules comprisescollision avoidance with humans.
 14. The telepresence robot of claim 13,wherein the first set of rules comprises navigating in a middle of anavigable area.
 15. The telepresence robot of claim 13, wherein thesecond set of rules comprises navigating toward a side of the navigablearea.
 16. The telepresence robot of claim 13, wherein the first set ofrules include a first minimum distance from an object and wherein thesecond set of rules comprises a second minimum distance from the object,wherein the second minimum distance is less than the first minimumdistance.
 17. (canceled)
 18. The telepresence robot of claim 1, whereinthe first set of rules comprises planning a path based on maximumefficiency and navigation speed.
 19. The telepresence robot of claim 1,wherein the second set of rules comprises planning a path based onpredictability to humans and avoiding contact with the human.
 20. Thetelepresence robot of claim 18, wherein the first set of rules include afirst minimum distance from an object and wherein the second set ofrules comprises a second minimum distance from the object, wherein thesecond minimum distance is less than the first minimum distance.
 21. Thetelepresence robot of claim 18, wherein the first set of rules include afirst maximum acceleration rate and wherein the second set of rulescomprises a second maximum acceleration rate, wherein the second maximumacceleration rate is less than the first maximum acceleration rate. 22.The telepresence robot of claim 1, wherein the first set of rulescomprises traveling at a first maximum speed and wherein the second setof rules comprises traveling at a second maximum speed, wherein thesecond maximum speed is less than the first maximum speed.
 23. Thetelepresence robot of claim 1, wherein the second set of rules comprisescausing the robot to acknowledge the presence of the human. 24-48.(canceled)
 29. The telepresence robot of claim 1, wherein the objectdetection system is configured to detect the human using a camera. 30.The telepresence robot of claim 28, wherein the object detection systemis configured to detect the human using one or more of face detection,feature classification for body shapes, and motion detection.
 31. Thetelepresence robot of claim 1, wherein the object detection system isconfigured to detect humans within a detection range. 32-136. (canceled)